Method, device and equipment for controlling working arm of mechanical device and storage medium

Abstract

The application provides a work arm control method, device and equipment of a mechanical device and a storage medium, and relates to the technical field of mechanical control. The method comprises the following steps: acquiring first control signals of joints of a work arm of a mechanical device according to target motion data signals of the joints by using feedforward models of the joints; performing hydraulic control on the joints according to the first control signals of the joints and acquiring actual motion data signals of the joints; determining control deviations of the feedforward models according to the actual motion data signals, the target motion data signals and the first control signals; adjusting the first control signals according to the control deviations to obtain second control signals; and performing hydraulic control on the joints based on the second control signals. By using the method, the output of the feedforward models can be adjusted according to the actual hydraulic characteristics of the mechanical device, the accuracy of the feedforward models is improved, and the control precision of the work arm is improved.

Description

Technical Field

[0001] This application relates to the field of mechanical control technology, and more specifically, to a method, device, equipment, and storage medium for controlling the working arm of a mechanical device. Background Technology

[0002] Mechanical equipment is usually equipped with a boom to complete specific tasks. Operators often need to control the boom to perform tasks under harsh construction conditions, which is highly dangerous. Therefore, intelligent control of mechanical equipment has become a trend.

[0003] Among them, the control of the working arm of mechanical equipment is a key technology. Generally speaking, the control method of the working arm includes two parts: feedforward model and feedback. The feedforward model is used to output the control signal of the working arm, and the feedback is to adjust the movement of the working arm based on the control signal output by the feedforward model.

[0004] However, existing mechanical equipment is usually hydraulic. The key to accurate control of it is to model the physical characteristics of hydraulics. When the hydraulic oil temperature, the duration of mechanical equipment operation, etc. change, the physical characteristics of hydraulics will change, and the modeled feedforward model will often fail, resulting in a decrease in the control accuracy of the working arm. Summary of the Invention

[0005] This application addresses the shortcomings of the prior art by providing a method, apparatus, device, and storage medium for controlling the working arm of a mechanical device, in order to solve the problems existing in the prior art.

[0006] The technical solution adopted in the embodiments of this application is as follows:

[0007] In a first aspect, embodiments of this application provide a method for controlling the working arm of a mechanical device, including:

[0008] Based on the target motion data signals of each joint in the working arm of the mechanical equipment, the first control signal of each joint is obtained by using the feedforward model of each joint;

[0009] Based on the first control signal of each joint, hydraulic control is performed on each joint, and the actual motion data signal of each joint is acquired;

[0010] The control deviation of the feedforward model is determined based on the actual motion data signal, the target motion data signal, and the first control signal.

[0011] Based on the control deviation, the first control signal is adjusted to obtain the second control signal;

[0012] Based on the second control signal, hydraulic control is performed on each joint.

[0013] In one embodiment, the target motion data signal includes a target angular velocity signal and a target angle signal, and the actual motion data signal includes an actual angle signal and an actual angular velocity signal;

[0014] Determining the control deviation of the feedforward model based on the actual motion data signal, the target motion data signal, and the first control signal includes:

[0015] Based on the actual angle signal and the target angular velocity signal, determine the first control parameter at the first target time that satisfies the preset angle condition from the first control signal;

[0016] The actual angular velocity value at the first target time is determined from the actual angular velocity signal;

[0017] Based on the target angular velocity signal and the actual angular velocity value, a second control parameter at a second target time that satisfies the preset angular velocity condition is determined from the first control signal;

[0018] The control deviation is determined based on the first control parameter and the second control parameter.

[0019] In one embodiment, determining the first control parameter at a first target time that satisfies the preset angle condition from the first control signal based on the actual angle signal and the target angular velocity signal includes:

[0020] Based on the actual angle signal and the target angular velocity signal, determine the first target time when the deviation between the actual angle value and the target angle value is less than a preset angle threshold.

[0021] The first control parameter at the first target time is determined from the first control signal.

[0022] In one embodiment, determining the second control parameter at a second target time that satisfies the preset angular velocity condition from the first control signal based on the target angular velocity signal and the actual angular velocity value includes:

[0023] Based on the target angular velocity signal and the actual angular velocity value, determine the second target time when the deviation between the actual angular velocity value and the target angular velocity value is less than a preset velocity threshold;

[0024] The second control parameter at the second target time is determined from the first control signal.

[0025] In one embodiment, determining the second target time, based on the target angular velocity signal and the actual angular velocity value, when the deviation between the actual angular velocity value and the target angular velocity value is less than a preset velocity threshold, includes:

[0026] Based on the target angular velocity signal and the actual angular velocity value, a second target time is determined within a time period following the first target time, where the deviation between the actual angular velocity value and the target angular velocity value is less than the preset velocity threshold.

[0027] In one embodiment, there are multiple first target times and multiple second target times; determining the control deviation based on the first control parameter and the second control parameter includes:

[0028] Calculate the first average value of multiple first control parameters;

[0029] Calculate the second average value of multiple second control parameters;

[0030] The control deviation is determined based on the first average value and the second average value.

[0031] In one embodiment, before obtaining the first control signal of each joint using a feedforward model of each joint based on the target motion data signals of each joint in the working arm of the mechanical equipment, the method further includes:

[0032] The mapping relationship between historical control signals and historical motion data signals is obtained from the historical motion records of each joint;

[0033] Based on the mapping relationship, a feedforward model for each joint is constructed.

[0034] Secondly, embodiments of this application provide a control device for the working arm of a mechanical device, comprising:

[0035] The acquisition module is used to acquire the first control signal of each joint based on the target motion data signal of each joint in the working arm of the mechanical equipment and using the feedforward model of each joint.

[0036] The first control module is used to perform hydraulic control on each joint according to the first control signal of each joint, and to acquire the actual motion data signal of each joint.

[0037] The determination module is used to determine the control deviation of the feedforward model based on the actual motion data signal, the target motion data signal, and the first control signal;

[0038] An adjustment module is used to adjust the first control signal according to the control deviation to obtain a second control signal;

[0039] The second control module is used to perform hydraulic control on each joint based on the second control signal.

[0040] Thirdly, embodiments of this application provide a mechanical device, including: a control unit, a working arm, multiple solenoid valves, and multiple motion sensors;

[0041] The multiple solenoid valves are respectively installed in the hydraulic oil lines of each joint on the working arm, and the multiple solenoid valves are connected to the control unit;

[0042] Multiple motion sensors are respectively disposed at preset motion detection points of each joint, and the multiple motion sensors are connected to the control unit, which is used to execute the working arm control method of the mechanical equipment described in the above embodiment.

[0043] Fourthly, embodiments of this application provide a readable storage medium storing a computer program, which, when executed by a control unit, implements the mechanical arm control method of the above embodiments.

[0044] The beneficial effects of this application are as follows: This application provides a control method for the working arm of a mechanical device, including: obtaining a first control signal for each joint by using a feedforward model of each joint based on the target motion data signal of each joint in the working arm of the mechanical device; performing hydraulic control on each joint based on the first control signal of each joint, and obtaining the actual motion data signal of each joint; determining the control deviation of the feedforward model based on the actual motion data signal, the target motion data signal, and the first control signal; adjusting the first control signal based on the control deviation to obtain a second control signal; and performing hydraulic control on each joint based on the second control signal.

[0045] In this process, the first control signal is adjusted based on the control deviation to obtain a second control signal. Then, based on the second control signal, hydraulic control is performed on each joint. This allows the output of the feedforward model to be adjusted according to the actual hydraulic characteristics of the mechanical equipment, improving the accuracy of the feedforward model and thus enhancing the control precision of the working arm. Furthermore, this application uses an established feedforward model as a foundation and adjusts it according to the actual hydraulic characteristics of the mechanical equipment, avoiding the problem of spending a lot of time re-collecting data and training the feedforward model. Attached Figure Description

[0046] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a schematic diagram of the structure of a mechanical device provided in an embodiment of this application;

[0048] Figure 2 One of the flowcharts of a mechanical equipment boom control method provided in an embodiment of this application;

[0049] Figure 3 A second schematic flowchart of a mechanical arm control method provided in an embodiment of this application;

[0050] Figure 4 A third schematic flowchart of a method for controlling the working arm of a mechanical device according to an embodiment of this application;

[0051] Figure 5 A fourth schematic flowchart of a mechanical arm control method provided in an embodiment of this application;

[0052] Figure 6 Fifth of a flowchart illustrating a method for controlling the working arm of a mechanical device according to an embodiment of this application;

[0053] Figure 7 A schematic flowchart of a mechanical arm control method provided in an embodiment of this application is shown in Figure 6.

[0054] Figure 8 A schematic diagram of the structure of a mechanical arm control device provided in an embodiment of this application;

[0055] Figure 9 This is a schematic diagram of the structure of a control unit provided in an embodiment of this application. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this application, but not all embodiments.

[0057] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0058] In the description of this application, it should be noted that if the terms "upper", "lower", etc. appear to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of this application is usually placed in, it is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0059] Furthermore, the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Additionally, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0060] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can be a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0061] It should be noted that, where there is no conflict, the features in the embodiments of this application can be combined with each other.

[0062] This application is based on the scenario of controlling the working arm of mechanical equipment. When controlling the working arm of mechanical equipment, a basic task is speed control. That is, for each joint of the working arm, a target speed is given. Then, for each joint, based on the feedforward model of each joint, the corresponding control signal of each joint is output so that each joint can move at a value close to the target speed to complete the working task of the working arm.

[0063] However, since mechanical equipment is usually hydraulically driven, the key to its accurate control lies in modeling the physical characteristics of hydraulic fluid. When factors such as hydraulic oil temperature, operating time of the mechanical equipment, and ambient temperature change, the hydraulic characteristics of the mechanical equipment will change, and the established feedforward model will often fail, causing the working arm to fail to complete the task. To address this issue, this application provides a method for controlling the working arm of mechanical equipment that can adapt to the current hydraulic characteristics of the mechanical equipment, thereby improving the accuracy of the control of the working arm.

[0064] The following combination Figure 1 First, the mechanical equipment of this application will be described by way of example. Figure 1 This is a schematic diagram of the structure of a mechanical device provided in an embodiment of this application, as shown below. Figure 1 As shown, the mechanical device includes: a control unit 1, a working arm 2, multiple solenoid valves 3, and multiple motion sensors 4. The control unit is used to execute the working arm control method of the mechanical device provided in the following embodiments.

[0065] Multiple solenoid valves are installed in the hydraulic lines of each joint on the boom. These valves are connected to a control unit, which sends electrical signals to control their opening. The opening of these valves is related to the hydraulic flow rate to each joint, which in turn is related to the joint's motion data (including angular velocity and joint angle). For example, a larger valve opening results in a higher flow rate, leading to a faster joint angular velocity and a larger joint angle; conversely, a smaller valve opening results in a lower flow rate, leading to a slower joint angular velocity and a smaller joint angle.

[0066] Multiple motion sensors are respectively set at preset motion detection points on each joint. The preset motion detection points can be any position on each joint. The motion sensors can be, for example, inertial measurement units (IMUs). Motion sensors can be used to measure specific forces, angular velocities, and other information of an object. By installing multiple motion sensors at the preset motion detection points on each joint, the multiple motion sensors can be used to collect the pose information of each joint (including at least joint angle information and angular velocity information). The multiple motion sensors are connected to the control unit. Based on this connection, the control unit can acquire the pose information of each joint collected by the multiple motion sensors.

[0067] It should be noted that the mechanical equipment in this application can be any mechanical equipment equipped with a working arm, such as an excavator, loader, robot, etc., and the specific type of mechanical equipment is not limited here; the joints of the working arm may include, for example, the boom, the forearm, the bucket, etc.

[0068] Based on this, the present application provides a method for controlling the working arm of a mechanical device. This method can be generated by a control unit in the mechanical device. The control unit has computing and processing capabilities, such as a terminal-oriented computer device or a back-end server.

[0069] The following combination Figures 2-7 The present application provides specific examples of the boom control method for mechanical equipment provided in this application.

[0070] Figure 2 This is one of the flowcharts illustrating a method for controlling the boom of a mechanical device according to an embodiment of this application, such as... Figure 2 As shown, the method includes:

[0071] S101. Based on the target motion data signals of each joint in the working arm of the mechanical equipment, the first control signal of each joint is obtained by using the feedforward model of each joint.

[0072] Before implementing the method of this embodiment, a feedforward model of each joint is pre-built. In controlling the working arm, it is only necessary to obtain the target motion data signal of each joint in the working arm of the mechanical equipment. Then, by using the feedforward model of each joint, the output parameters of the feedforward model of each joint can be used as the first control signal of each joint.

[0073] S102. Based on the first control signal of each joint, perform hydraulic control on each joint and acquire the actual motion data signal of each joint.

[0074] The first control signal can be, for example, a pulse width modulation (PWM) form. Pulse width modulation is an analog control method that refers to modulating the bias of the base of a transistor or the gate of a MOSFET according to the change of the corresponding load, so as to change the conduction time of the transistor or MOSFET, thereby changing the output of the switching power supply.

[0075] In this embodiment, the first control signal can be used to adjust the opening degree of the solenoid valves installed on each joint, thereby adjusting the oil supply of the hydraulic circuit of each joint according to the opening degree of the solenoid valves, so as to perform hydraulic control on each joint. The hydraulic control process is also the process of controlling the working arm to complete the work task. During the hydraulic control process, the control unit can acquire the actual motion data signals of each joint collected by the motion sensor. The motion sensor collects the actual motion data signals of each joint at a frequency of 100Hz, that is, once every 0.01 seconds.

[0076] S103. Determine the control deviation of the feedforward model based on the actual motion data signal, the target motion data signal, and the first control signal.

[0077] When the hydraulic characteristics of mechanical equipment change, the accuracy of the feedforward model will decrease, and the accuracy of the operation control of the working arm based on the output parameters of the feedforward model will decrease. This manifests as a large deviation between the actual motion data of the working arm and the target motion data, and the working arm cannot accurately complete the operation task.

[0078] Therefore, in this embodiment, the control deviation of the feedforward model can be determined based on the actual motion data signal, the target motion data signal, and the first control signal. This can be understood as the numerical deviation of the first control signal, the pulse width modulation signal that enables the working arm to complete the task.

[0079] S104. Adjust the first control signal according to the control deviation to obtain the second control signal.

[0080] Before implementing the method of this embodiment, the working arm was controlled to perform multiple tasks by outputting PWM parameters through the feedforward model. Experiments showed that when the motion sensor measured the same joint angle of the working arm, there was a large deviation in the angular velocity of the joint. However, the changes between the multiple PWM outputs of the feedforward model and the multiple joint angular velocities V were translational. In fact, the hydraulic characteristics of the mechanical equipment were shifted as a whole. To address this shift, it is only necessary to fine-tune the output parameters of the feedforward model based on the existing feedforward model.

[0081] Therefore, by directly adding the control deviation to the first control signal, the adjustment of the first control signal can be completed, resulting in the second control signal. The second control signal is a control signal that conforms to the current actual hydraulic characteristics of the mechanical equipment, and it is also in pulse width modulation form.

[0082] S105. Based on the second control signal, perform hydraulic control on each joint.

[0083] After obtaining the second control signal, since the second control signal conforms to the actual hydraulic characteristics of the mechanical equipment, hydraulic control of each joint of the working arm can be performed based on the second control signal, which can enable the working arm to complete the work task more accurately and improve the control accuracy of the working arm.

[0084] In summary, this embodiment provides a method for controlling the working arm of a mechanical device. It adjusts the output of the feedforward model according to the actual hydraulic characteristics of the mechanical device, thereby improving the accuracy of the feedforward model and thus improving the control precision of the working arm. Furthermore, this embodiment is based on an established feedforward model and adjusts the output of the feedforward model according to the actual hydraulic characteristics of the mechanical device, avoiding the problem of spending a lot of time re-collecting data and training the feedforward model.

[0085] Target motion data signals may include, for example, the target angular velocity signal and the target angle signal of the working arm performing the task, and the actual motion data signals may include the current actual angle signal and the current actual angular velocity signal of the working arm.

[0086] Based on this, one embodiment of this application also provides a specific implementation method for determining control deviation. Figure 3 This is a second schematic flowchart of a method for controlling the working arm of a mechanical device according to an embodiment of this application. Figure 3 As shown, S103, determining the control deviation of the feedforward model based on the actual motion data signal, the target motion data signal, and the first control signal, may include:

[0087] S201. Based on the actual angle signal and the target angular velocity signal, determine the first control parameter at the first target time that satisfies the preset angle condition from the first control signal.

[0088] The first control signal can be a control signal composed of multiple PWM control parameters stepping down a preset time sequence. After obtaining the actual angle signal and the target angular velocity signal of the working arm, the first control parameter at the first target time that satisfies the preset angle condition can be determined from the first control signal based on the actual angle signal and the target angular velocity signal. Here, the preset time sequence is a time sequence composed of multiple control cycles when controlling the working arm to perform the task.

[0089] For example, if the preset angle condition is set to a joint angle of 10 degrees and the target angular velocity signal is 0.1 rad / s, during the operation control of the working arm based on the target angular velocity signal and the output parameters of the feedforward model, when the actual angle signal of the joint indicates that the actual angle of the joint is 10 degrees or close to 10 degrees, the time and the output parameters of the feedforward model at this time are recorded, and this time is taken as the first target time, and the output parameters of the feedforward model at this time are taken as the first control parameters.

[0090] S202. Determine the actual angular velocity value at the first target time from the actual angular velocity signal.

[0091] Then, the actual angular velocity value at the first target time is determined from the actual angular velocity signal. For example, if the first target time is the 10th second of the task, the output parameter PWM of the feedforward model is 500, and the actual angular velocity of the joint is 0.2 rad / s. Obviously, the actual angular velocity value of the joint does not match the target angular velocity value of 0.1 rad / s, so the first control parameter needs to be corrected. The operation control of the working arm is performed according to the corrected first control parameter, and the actual angular velocity value of the joint can reach the target angular velocity value.

[0092] S203. Based on the target angular velocity signal and the actual angular velocity value, determine the second control parameter at the second target time that satisfies the preset angular velocity condition from the first control signal.

[0093] Specifically, based on the target angular velocity signal and the actual angular velocity value, it is necessary to determine the second control parameter at the second target time that meets the preset angular velocity condition from the first control signal, so as to complete the correction of the first control signal according to the second control parameter.

[0094] The preset angular velocity condition is the actual angular velocity value of the joint, which is 0.2 rad / s. When the actual angular velocity value of the joint at other time points besides the first target time point exists in the first control signal, and the difference between the actual angular velocity value of the joint and 0.2 rad / s is small, the time point is determined as the second target time, and the output parameters of the feedforward model at the second target time are used as the second control parameters.

[0095] S204. Determine the control deviation based on the first control parameter and the second control parameter.

[0096] After obtaining the first control parameter and the second control parameter, subtract the two to get the control deviation. For example, if the first control parameter is 500 and the second control parameter is 520, then subtracting the two will determine the control deviation as 20.

[0097] It should be noted that this embodiment only uses the example of target motion data signals being target angular velocity and target angle signals, and actual motion data signals being actual angle and actual angular velocity signals. It does not mean that the target motion data signals and actual motion data signals can only be in the above forms. Optionally, the target motion data signal can also be the target coordinate information of the working arm in the global map, and the actual motion data signal can also be the current actual coordinate information of the working arm in the global map. The global map refers to a three-dimensional panoramic map established based on the actual scene where the mechanical equipment is located.

[0098] One embodiment of this application also provides a specific implementation method for determining the first control parameter. Figure 4 The third schematic flowchart of the boom control method for mechanical equipment provided in an embodiment of this application is shown below. Figure 4 As shown, S201, determining the first control parameter at the first target time that satisfies the preset angle condition from the first control signal based on the actual angle signal and the target angular velocity signal, may include:

[0099] S301. Based on the actual angle signal and the target angular velocity signal, determine the first target time when the deviation between the actual angle value and the target angle value is less than a preset angle threshold.

[0100] Taking a target angle of 10 degrees as an example, during a single operation control process of the working arm, there may not be a situation where the actual angle value is exactly equal to 10 degrees. Therefore, this embodiment sets a preset angle threshold. When the deviation between the actual angle value and the target angle value is less than the preset angle threshold, the time point can be taken as the first target time.

[0101] For example, if the preset angle threshold is 0.1 degrees, the time when the actual angle value is in the range of 9.9-10.1 degrees can be used as the first target time.

[0102] S302. Determine the first control parameter at the first target time from the first control signal.

[0103] Then, the first control parameter at the first target time is determined from the first control signal.

[0104] This embodiment can obtain the first target time based on a preset angle threshold when there is no actual angle value exactly equal to the target angle value in the first control signal. This improves the flexibility in determining the first target time, thereby improving the flexibility in determining the first control parameters and making the application of the working arm control method of mechanical equipment more flexible and widespread.

[0105] One embodiment of this application also provides a specific implementation method for determining the second control parameter. Figure 5 The fourth schematic flowchart of the boom control method for mechanical equipment provided in an embodiment of this application is shown below. Figure 5 As shown, step S202, determining the second control parameter at the second target time that satisfies the preset angular velocity condition from the first control signal based on the target angular velocity signal and the actual angular velocity value, includes:

[0106] S401. Based on the target angular velocity signal and the actual angular velocity value, determine the second target time when the deviation between the actual angular velocity value and the target angular velocity value is less than a preset velocity threshold.

[0107] Taking a target angular velocity of 0.2 rad / s as an example, during a single operation control of the working arm, there may not be a situation where the actual angular velocity value is exactly equal to 0.2 rad / s. Therefore, this embodiment sets a preset speed threshold. When the deviation between the actual angular velocity value and the target angular velocity value is less than the preset speed threshold, the time point can be used as the second target time.

[0108] For example, if the preset velocity threshold is 0.05 rad / s, the time when the actual angular velocity value is in the range of 0.15-0.25 rad / s can be used as the second target time.

[0109] S402. Determine the second control parameter at the second target time from the first control signal.

[0110] Then, the second control parameter at the second target time is determined from the first control signal.

[0111] This embodiment can obtain the second target time based on a preset speed threshold when there is no actual angular velocity value exactly equal to the target angular velocity value in the first control signal. This improves the flexibility in determining the second target time, thereby improving the flexibility in determining the second control parameters and making the application of the working arm control method of mechanical equipment more flexible and widespread.

[0112] Since the feedforward model outputs multiple control parameters PWM under a preset time sequence in the operation control of the working arm, if the first control parameter is to be corrected, the second target time should be the time point after the first target time.

[0113] Therefore, the step S401, which determines the second target time based on the target angular velocity signal and the actual angular velocity value, where the deviation between the actual angular velocity value and the target angular velocity value is less than a preset velocity threshold, may include: determining the second target time based on the target angular velocity signal and the actual angular velocity value, within a time period after the first target time, where the deviation between the actual angular velocity value and the target angular velocity value is less than a preset velocity threshold.

[0114] In one embodiment, during the process of the working arm performing the same task, there may be multiple situations where the preset angle condition is met, so there can be multiple first target times; there may also be multiple situations where the preset angular velocity condition is met, so there can also be multiple second target times.

[0115] Based on this, Figure 6 The fifth schematic flowchart of the boom control method for mechanical equipment provided in an embodiment of this application is shown below. Figure 6 As shown, determining the control deviation based on the first control parameter and the second control parameter as described in S204 may include:

[0116] S501, Calculate the first average value of multiple first control parameters.

[0117] When there are multiple situations where the preset angle condition is met, there are multiple first control parameters, and the first average value of the multiple first control parameters is calculated.

[0118] S502, Calculate the second average value of multiple second control parameters.

[0119] When there are multiple instances where the preset angular velocity condition is met, there are multiple second control parameters, and the second average value of the multiple second control parameters is calculated.

[0120] S503. Determine the control deviation based on the first average value and the second average value.

[0121] Subtracting the first average value from the second average value yields the control deviation. This embodiment takes into account the possibility that preset angle conditions and preset angular velocity conditions may be met multiple times during a single operation of the boom, thus improving the accuracy of obtaining the control deviation and consequently enhancing the accuracy of the boom control method, resulting in more precise operation control of the boom.

[0122] An embodiment of this application also provides a method for constructing a feedforward model. Figure 7 The sixth schematic flowchart of the working arm control method for a mechanical device provided in an embodiment of this application is shown below. Figure 7 As shown, before S101 obtains the first control signal of each joint based on the target motion data signal of each joint in the working arm of the mechanical equipment and using the feedforward model of each joint, the method may further include:

[0123] S601. Obtain the mapping relationship between historical control signals and historical motion data signals from the historical motion records of each joint.

[0124] The historical motion record of each joint refers to the motion record data of each joint performing historical tasks at a historical time. The historical motion record includes at least historical control signals and historical motion data (historical angular velocity signals and historical target angle signals of each joint). Therefore, the mapping relationship between historical control signals and historical motion data signals can be obtained from the historical motion record of each joint.

[0125] S602. Based on the mapping relationship, construct the feedforward model for each joint.

[0126] The mapping relationships of each joint are organized into training sample sets, and then the preset neural network models are trained separately to obtain the feedforward model of each joint. The input of the feedforward model of each joint is the actual angle signal and the target angular velocity signal of each joint, and the output is the first control signal of each joint.

[0127] It should also be noted that the input layer of the default neural network model is a two-dimensional vector, the hidden layer has 20 neurons, and the output is a one-dimensional vector.

[0128] In summary, this application provides a method for controlling the boom of a mechanical device. Regarding the specific quantitative indicators for improving the boom control effect of this method, this application also proposes four indicators: maximum error, maximum error percentage, average error, and average error percentage. The maximum error represents the difference between the maximum actual operating speed and the target speed within the current cycle, while the average error represents the difference between the average actual operating speed and the target speed within the current cycle.

[0129] Taking the boom joint on the working arm as an example, Table 1 shows the test index results of the feedforward model before adjustment, and Table 2 shows the test index of the feedforward model after adjustment. The data shows that after adjusting the output parameters of the feedforward model using the method of this application, all the indicators of the working arm have been optimized.

[0130] Table 1. Test Indicators of the Feedforward Model Before Adjustment

[0131]

[0132]

[0133] Table 2. Adjusted Feedforward Model Test Indicators

[0134]

[0135] The following will continue to explain the apparatus, control unit, and storage medium for implementing the mechanical arm control method of any of the above embodiments of this application. The specific implementation process and the resulting technical effects are the same as those in the corresponding method embodiments. For the sake of brevity, the parts not mentioned in the following embodiments can be referred to the corresponding content in the method embodiments.

[0136] Figure 8 This is a schematic diagram of the structure of a working arm control device for a mechanical device provided in an embodiment of this application, as shown below. Figure 8 As shown, the control device for the working arm of the mechanical equipment includes:

[0137] The acquisition module 10 is used to acquire the first control signal of each joint based on the target motion data signal of each joint in the working arm of the mechanical equipment and using the feedforward model of each joint.

[0138] The first control module 20 is used to perform hydraulic control on each joint according to the first control signal of each joint, and to acquire the actual motion data signal of each joint.

[0139] The determination module 30 is used to determine the control deviation of the feedforward model based on the actual motion data signal, the target motion data signal, and the first control signal.

[0140] The adjustment module 40 is used to adjust the first control signal according to the control deviation to obtain the second control signal.

[0141] The second control module 50 is used to perform hydraulic control on each joint based on the second control signal.

[0142] Optionally, the target motion data signal includes: target angular velocity signal and target angle signal, and the actual motion data signal includes: actual angle signal and actual angular velocity signal.

[0143] The determining module 30 is further configured to: determine a first control parameter at a first target time that satisfies a preset angle condition from the first control signal based on the actual angle signal and the target angular velocity signal; determine the actual angular velocity value at the first target time from the actual angular velocity signal; determine a second control parameter at a second target time that satisfies a preset angular velocity condition from the first control signal based on the target angular velocity signal and the actual angular velocity value; and determine a control deviation based on the first control parameter and the second control parameter.

[0144] Optionally, the determining module 30 is further configured to determine, based on the actual angle signal and the target angular velocity signal, a first target time when the deviation between the actual angle value and the target angle value is less than a preset angle threshold; and to determine a first control parameter at the first target time from the first control signal.

[0145] Optionally, the determining module 30 is further configured to determine, based on the target angular velocity signal and the actual angular velocity value, a second target time when the deviation between the actual angular velocity value and the target angular velocity value is less than a preset velocity threshold; and to determine a second control parameter at the second target time from the first control signal.

[0146] Optionally, the determining module 30 is further configured to determine, based on the target angular velocity signal and the actual angular velocity value, a second target time from a time period after the first target time when the deviation between the actual angular velocity value and the target angular velocity value is less than a preset velocity threshold.

[0147] Optionally, the determining module 30 is further configured to calculate a first average value of a plurality of first control parameters; calculate a second average value of a plurality of second control parameters; and determine a control deviation based on the first average value and the second average value.

[0148] Optionally, the control device for the working arm of the mechanical equipment also includes a construction module for obtaining the mapping relationship between historical control signals and historical motion data signals from the historical motion records of each joint; and constructing a feedforward model for each joint based on the mapping relationship.

[0149] The above-described device is used to execute the method provided in the foregoing embodiments, and its implementation principle and technical effect are similar, so they will not be described again here.

[0150] These modules can be one or more integrated circuits configured to implement the above methods, such as one or more Application Specific Integrated Circuits (ASICs), one or more microprocessors, or one or more Field Programmable Gate Arrays (FPGAs). Alternatively, when a module is implemented using processing element scheduler code, the processing element can be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. Furthermore, these modules can be integrated together as a System-on-a-Chip (SOC).

[0151] Optionally, this application also provides a control unit. Figure 9 This is a schematic diagram of the structure of a control unit provided in an embodiment of this application, as shown below. Figure 9 As shown, the control unit includes a processor 100, a storage medium 200, and a bus 300, with the processor and the storage medium communicating via the bus.

[0152] The storage medium stores program instructions that can be executed by the processor. When the control unit moves, the processor executes the program instructions. The methods for achieving this include:

[0153] Based on the target motion data signals of each joint in the working arm of the mechanical equipment, the first control signal of each joint is obtained by using the feedforward model of each joint.

[0154] Based on the first control signal of each joint, hydraulic control is performed on each joint, and the actual motion data signal of each joint is acquired.

[0155] Based on the actual motion data signal, the target motion data signal, and the first control signal, the control deviation of the feedforward model is determined;

[0156] Based on the control deviation, the first control signal is adjusted to obtain the second control signal;

[0157] Hydraulic control is performed on each joint based on the second control signal.

[0158] Optionally, the target motion data signal includes: target angular velocity signal and target angle signal, and the actual motion data signal includes: actual angle signal and actual angular velocity signal;

[0159] Based on the actual motion data signal, the target motion data signal, and the first control signal, the control deviation of the feedforward model is determined, including:

[0160] Based on the actual angle signal and the target angular velocity signal, determine the first control parameter at the first target time that satisfies the preset angle condition from the first control signal;

[0161] Determine the actual angular velocity value at the first target time from the actual angular velocity signal;

[0162] Based on the target angular velocity signal and the actual angular velocity value, determine the second control parameter at the second target time that satisfies the preset angular velocity condition from the first control signal;

[0163] The control deviation is determined based on the first control parameter and the second control parameter.

[0164] Optionally, based on the actual angle signal and the target angular velocity signal, a first control parameter at a first target time that satisfies the preset angle condition is determined from the first control signal, including:

[0165] Based on the actual angle signal and the target angular velocity signal, determine the first target time when the deviation between the actual angle value and the target angle value is less than a preset angle threshold.

[0166] The first control parameter at the first target time is determined from the first control signal.

[0167] Optionally, based on the target angular velocity signal and the actual angular velocity value, a second control parameter at a second target time that satisfies the preset angular velocity condition is determined from the first control signal, including:

[0168] Based on the target angular velocity signal and the actual angular velocity value, determine the second target time when the deviation between the actual angular velocity value and the target angular velocity value is less than a preset velocity threshold;

[0169] The second control parameter at the second target time is determined from the first control signal.

[0170] Optionally, based on the target angular velocity signal and the actual angular velocity value, a second target time is determined where the deviation between the actual angular velocity value and the target angular velocity value is less than a preset velocity threshold, including:

[0171] Based on the target angular velocity signal and the actual angular velocity value, a second target time is determined within a time period after the first target time, where the deviation between the actual angular velocity value and the target angular velocity value is less than a preset velocity threshold.

[0172] Optionally, there are multiple first target times and multiple second target times; the control deviation is determined based on the first control parameter and the second control parameter, including:

[0173] Calculate the first average value of multiple first control parameters;

[0174] Calculate the second average value of multiple second control parameters;

[0175] The control deviation is determined based on the first average value and the second average value.

[0176] Optionally, before obtaining the first control signal for each joint using a feedforward model of each joint based on the target motion data signals of each joint in the working arm of the mechanical equipment, the method further includes:

[0177] The mapping relationship between historical control signals and historical motion data signals is obtained from the historical motion records of each joint;

[0178] Based on the mapping relationship, construct the feedforward model for each joint.

[0179] An embodiment of this application also provides a readable storage medium storing a computer program, which, when run by a control unit, implements the working arm control method of the mechanical equipment described in any of the above embodiments.

[0180] The methods implemented by the computer program when it is run by the control unit may include:

[0181] Based on the target motion data signals of each joint in the working arm of the mechanical equipment, the first control signal of each joint is obtained by using the feedforward model of each joint.

[0182] Based on the first control signal of each joint, hydraulic control is performed on each joint, and the actual motion data signal of each joint is acquired.

[0183] Based on the actual motion data signal, the target motion data signal, and the first control signal, the control deviation of the feedforward model is determined;

[0184] Based on the control deviation, the first control signal is adjusted to obtain the second control signal;

[0185] Hydraulic control is performed on each joint based on the second control signal.

[0186] Optionally, the target motion data signal includes: target angular velocity signal and target angle signal, and the actual motion data signal includes: actual angle signal and actual angular velocity signal;

[0187] Based on the actual motion data signal, the target motion data signal, and the first control signal, the control deviation of the feedforward model is determined, including:

[0188] Based on the actual angle signal and the target angular velocity signal, determine the first control parameter at the first target time that satisfies the preset angle condition from the first control signal;

[0189] Determine the actual angular velocity value at the first target time from the actual angular velocity signal;

[0190] Based on the target angular velocity signal and the actual angular velocity value, determine the second control parameter at the second target time that satisfies the preset angular velocity condition from the first control signal;

[0191] The control deviation is determined based on the first control parameter and the second control parameter.

[0192] Optionally, based on the actual angle signal and the target angular velocity signal, a first control parameter at a first target time that satisfies the preset angle condition is determined from the first control signal, including:

[0193] Based on the actual angle signal and the target angular velocity signal, determine the first target time when the deviation between the actual angle value and the target angle value is less than a preset angle threshold.

[0194] The first control parameter at the first target time is determined from the first control signal.

[0195] Optionally, based on the target angular velocity signal and the actual angular velocity value, a second control parameter at a second target time that satisfies the preset angular velocity condition is determined from the first control signal, including:

[0196] Based on the target angular velocity signal and the actual angular velocity value, determine the second target time when the deviation between the actual angular velocity value and the target angular velocity value is less than a preset velocity threshold;

[0197] The second control parameter at the second target time is determined from the first control signal.

[0198] Optionally, based on the target angular velocity signal and the actual angular velocity value, a second target time is determined where the deviation between the actual angular velocity value and the target angular velocity value is less than a preset velocity threshold, including:

[0199] Based on the target angular velocity signal and the actual angular velocity value, a second target time is determined within a time period after the first target time, where the deviation between the actual angular velocity value and the target angular velocity value is less than a preset velocity threshold.

[0200] Optionally, there are multiple first target times and multiple second target times; the control deviation is determined based on the first control parameter and the second control parameter, including:

[0201] Calculate the first average value of multiple first control parameters;

[0202] Calculate the second average value of multiple second control parameters;

[0203] The control deviation is determined based on the first average value and the second average value.

[0204] Optionally, before obtaining the first control signal for each joint using a feedforward model of each joint based on the target motion data signals of each joint in the working arm of the mechanical equipment, the method further includes:

[0205] The mapping relationship between historical control signals and historical motion data signals is obtained from the historical motion records of each joint;

[0206] Based on the mapping relationship, construct the feedforward model for each joint.

[0207] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0208] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0209] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in a combination of hardware and software functional units.

[0210] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0211] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling the boom of a mechanical device, characterized in that, include: Based on the target motion data signals of each joint in the working arm of the mechanical equipment, the first control signal of each joint is obtained by using the feedforward model of each joint; Based on the first control signal of each joint, hydraulic control is performed on each joint, and the actual motion data signal of each joint is acquired; The control deviation of the feedforward model is determined based on the actual motion data signal, the target motion data signal, and the first control signal. Based on the control deviation, the first control signal is adjusted to obtain the second control signal; Based on the second control signal, hydraulic control is performed on each joint; The target motion data signal includes: target angular velocity signal and target angle signal; the actual motion data signal includes: actual angle signal and actual angular velocity signal. Determining the control deviation of the feedforward model based on the actual motion data signal, the target motion data signal, and the first control signal includes: Based on the actual angle signal and the target angular velocity signal, determine the first control parameter at the first target time that satisfies the preset angle condition from the first control signal; The actual angular velocity value at the first target time is determined from the actual angular velocity signal; Based on the target angular velocity signal and the actual angular velocity value, a second control parameter at a second target time that satisfies the preset angular velocity condition is determined from the first control signal; The control deviation is determined based on the first control parameter and the second control parameter.

2. The method according to claim 1, characterized in that, The step of determining the first control parameter at the first target time that satisfies the preset angle condition from the first control signal based on the actual angle signal and the target angular velocity signal includes: Based on the actual angle signal and the target angular velocity signal, determine the first target time when the deviation between the actual angle value and the target angle value is less than a preset angle threshold. The first control parameter at the first target time is determined from the first control signal.

3. The method according to claim 1, characterized in that, The step of determining the second control parameter at the second target time that satisfies the preset angular velocity condition from the first control signal based on the target angular velocity signal and the actual angular velocity value includes: Based on the target angular velocity signal and the actual angular velocity value, determine the second target time when the deviation between the actual angular velocity value and the target angular velocity value is less than a preset velocity threshold; The second control parameter at the second target time is determined from the first control signal.

4. The method according to claim 3, characterized in that, The step of determining the second target time, based on the target angular velocity signal and the actual angular velocity value, when the deviation between the actual angular velocity value and the target angular velocity value is less than a preset velocity threshold, includes: Based on the target angular velocity signal and the actual angular velocity value, a second target time is determined within a time period following the first target time, where the deviation between the actual angular velocity value and the target angular velocity value is less than the preset velocity threshold.

5. The method according to claim 1, characterized in that, There are multiple first target times and multiple second target times; determining the control deviation based on the first control parameter and the second control parameter includes: Calculate the first average value of multiple first control parameters; Calculate the second average value of multiple second control parameters; The control deviation is determined based on the first average value and the second average value.

6. The method according to claim 1, characterized in that, Before obtaining the first control signal of each joint based on the target motion data signals of each joint in the working arm of the mechanical equipment and using the feedforward model of each joint, the method further includes: The mapping relationship between historical control signals and historical motion data signals is obtained from the historical motion records of each joint; Based on the mapping relationship, a feedforward model for each joint is constructed.

7. A control device for the working arm of a mechanical equipment, characterized in that, include: The acquisition module is used to acquire the first control signal of each joint based on the target motion data signal of each joint in the working arm of the mechanical equipment and using the feedforward model of each joint. The first control module is used to perform hydraulic control on each joint according to the first control signal of each joint, and to acquire the actual motion data signal of each joint. The determination module is used to determine the control deviation of the feedforward model based on the actual motion data signal, the target motion data signal, and the first control signal; An adjustment module is used to adjust the first control signal according to the control deviation to obtain a second control signal; The second control module is used to perform hydraulic control on each joint based on the second control signal; The target motion data signal includes: target angular velocity signal and target angle signal; the actual motion data signal includes: actual angle signal and actual angular velocity signal. The determining module is further configured to: determine a first control parameter at a first target time that satisfies a preset angle condition from the first control signal based on the actual angle signal and the target angular velocity signal; determine an actual angular velocity value at the first target time from the actual angular velocity signal; determine a second control parameter at a second target time that satisfies a preset angular velocity condition from the first control signal based on the target angular velocity signal and the actual angular velocity value; and determine the control deviation based on the first control parameter and the second control parameter.

8. A mechanical device, characterized in that, include: Control unit, working arm, multiple solenoid valves, and multiple motion sensors; The multiple solenoid valves are respectively installed in the hydraulic oil lines of each joint on the working arm, and the multiple solenoid valves are connected to the control unit; Multiple motion sensors are respectively disposed at preset motion detection points of each joint, and the multiple motion sensors are connected to the control unit, which is used to execute the working arm control method of the mechanical equipment according to any one of claims 1-6.

9. A readable storage medium, characterized in that, The readable storage medium stores a computer program, which, when executed by the control unit, implements the boom control method for the mechanical equipment according to any one of claims 1-6.

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